JP6656328B1 - Work support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve work efficiency. A work support device 1 includes a camera 30, a calculation device 61, and a projector 20. The camera 30 acquires a captured image of the article shelf 10 on which the plurality of boxes 50 are placed. The arithmetic device 61 specifies the position of the first box 50-1 of the plurality of boxes based on the captured image, and determines the position of the display area 100-1 corresponding to the first box. The projector 20 displays an instruction to the worker in the display area 100. A marker 51 may be attached to the first box 50-1. In this case, the arithmetic device 61 may specify the position of the first box 50-1 based on the position of the marker 51 in the captured image. [Selection diagram] Fig. 1

Description

  The present invention relates to a work support device.

  The work support device is a device for instructing an operator on which of various articles (for example, parts or goods) to be taken on a shelf, and is widely used in a production line or a distribution base. As an example, the work support apparatus instructs a worker on a production line, out of various parts accumulated in a parts warehouse (typically, a parts shelf), a part to be assembled to a target product and the number of parts to be assembled. Used to As another example, the work support device is configured such that, among the various products stocked in a merchandise store (typically, a merchandise shelf) at a distribution base, a product to be stored in a target shipper (container) and a product to be stored in the target shipper (container). It is used to indicate the number to the operator.

  The work support device includes a display device for giving an instruction to a worker. Most traditionally, a lamp or a segment display has been used as a display device of the work support apparatus, but in recent years, it has been proposed to use a projector. For example, Akira Hashimoto et al., "Application of Mixed Reality Technology to Sorting Support in Merchandise Distribution (2)", Proceedings of the 19th Annual Meeting of the Virtual Reality Society of Japan, September 2014, pp. 553-556 (Non-Patent Document 1) discusses advantages and disadvantages of a wearable projector and a stationary projector in support of a sorting operation.

  One of the requirements for a work support device is to prevent work mistakes. Various mechanisms have been proposed to prevent operation errors. For example, Japanese Patent Laying-Open No. 2005-1781 (Patent Document 1) discloses a picking support that measures the weight of a product stored in each shipper and determines whether an article stored in the shipper is correct based on the measured weight. An apparatus is disclosed. Japanese Patent Application Laid-Open No. 2006-321590 (Patent Literature 2) discloses that a position where a worker's hand passes in the frontage of a product shelf is detected using infrared rays, and a warning is issued when the detected position is inappropriate. Discloses a picking support device configured to generate the following.

JP 2005-1781A JP 2006-321590 A

Akira Hashimoto et al., "Application of Mixed Reality Technology to Sorting Support in Merchandise Distribution (2)", Proceedings of the 19th Annual Meeting of the Virtual Reality Society of Japan, September 2014, pp. 553-556

  When starting work using the work support device, it is necessary to set the position of a lamp or a segment display or the display position of a projector according to the position of an article. In view of such a situation, an object of the present invention is to provide a work support device for performing work efficiently. Other objects can be understood from the following description and the description of the embodiments.

  Hereinafter, means for solving the problems will be described using numbers and reference numerals used in the embodiments for carrying out the invention. These numbers and symbols are added in parentheses for reference in order to show an example of the correspondence between the description of the claims and the embodiment for carrying out the invention. Therefore, the appended claims should not be construed as limiting the scope of the appended claims.

  In order to achieve the above object, a work support device (1) according to a first aspect of the present invention includes a camera (30), an arithmetic device (61), and a projector (20). The camera (30) acquires a captured image of the article shelf (10) in which a plurality of boxes (50) are placed. The arithmetic unit (61) specifies the position of the first box (50-1) of the plurality of boxes based on the captured image, and determines the position of the display area (100-1) corresponding to the first box. . The projector (20) displays an instruction for an operator in a display area (100).

  A work support device (1) according to a second aspect of the present invention includes a sensor (40) and a calculation device (61). The sensor (40) detects a position of an object within a monitoring range set on an article shelf that stores articles. In the first mode, the arithmetic unit (61) detects a work error in picking based on the detection result of the sensor. In the second mode, the article requested to be replenished is specified based on the detection result of the sensor.

  According to the work support device of the present invention, work efficiency can be improved.

It is a front view showing the composition of the work support device concerning this embodiment. It is a right side view showing the composition of the work support device concerning this embodiment. It is a perspective view of the box of FIG. 2 is an example of an image captured by the camera in FIG. 1. It is a figure showing the system configuration of the work support device concerning this embodiment. It is an example of box information registered in the arithmetic unit of FIG. It is a flowchart which shows the process at the time of setting the position of a box to an arithmetic unit. It is a flowchart which shows the process at the time of alerting | reporting the article which should be replenished. It is a right side view showing an example of the composition of the work support device concerning this embodiment.

As shown in FIG. 1, the work support device 1 according to the present embodiment includes an article shelf 10, a projector 20, a camera 30, and a sensor 40. The article shelf 10 is installed on the floor F and includes a plurality of shelves 11 (first shelf 11-1, second shelf 11-2, third shelf 11-3, fourth shelf 11-3) arranged vertically. -4, fifth shelf 11-5). In order to facilitate understanding, description will be made using a rectangular coordinate system. The direction of extension of the front end of the shelf 11 and x ₁ direction. orthogonal to the x ₁ direction and a direction parallel to the floor F and y ₁ direction. The vertical direction of the article shelf 10 and _{z 1} direction. Note that the front side of the article shelf 10 refers to the direction in which a person is working, as shown in FIG.

  A plurality of boxes 50 for storing articles are placed on the three shelves 11 from the bottom (first shelf 11-1, second shelf 11-2, and third shelf 11-3). A bar 12 is provided on the shelf 11 on which the box 50 is placed in order to prevent the box 50 from dropping. In addition, by arranging the box 50 so as to be in contact with the bar 12, the box 50 can be linearly arranged on each shelf 11.

Above the rack 11 adjacent to the rack 11 of the box 50 is placed, the front end, in other words -y ₁ direction of the end, the screen 13 extending in the x ₁ direction. More specifically, the first screen 13-1 is provided in the -y ₁ direction of the end of the second shelf 11-2 upward adjacent to the first shelf 11-1 the box 50 is placed. Similarly, the second screen 13-2 -y ₁ direction of the end of the third shelf 11-3, third screen 13-3 in the -y ₁ direction of the end of the fourth shelf 11-4, respectively provided ing.

Further, the box 50 is placed shelves 11 (first shelf 11-1, second shelf 11-2, third shelf 11-3) each, as shown in FIG. 2, with respect to _{y 1} direction, It is arranged at an angle. Specifically, in the z ₁ direction, the front end than the (-y ₁ direction end), a shelf 11 that the rear end (+ y ₁ direction end) is positioned above the box 50 is placed is arranged ing. Therefore, the worker W can easily take out the article from the box 50.

The front end of each shelf 11, when viewed from the z ₁ direction, are arranged in order from the first stage 11-1 of the bottom, so as to be aligned in + y ₁ direction. Specifically, the front end of the second shelf 11-2 is arranged in + _{y 1} direction from the front end of the first shelf 11-1. The front end of the third shelf 11-3 is arranged in + _{y 1} direction from the front end of the second shelf 11-2. Front end of the fourth shelf 11-4 is arranged in + _{y 1} direction from the front end of the third shelf 11-3. Front end of the 5 shelf 11-5 is arranged in + _{y 1} direction from the front end of the fourth shelf 11-4.

Further, a projector 20 is installed on the fifth shelf 11-5 at the top as shown in FIG. The projector 20 is supported on the fifth shelf 11-5 via the arm 14. The arm 14 is provided to protrude forward of the fifth shelf 11-5. In other words, the projector 20 is installed in the -y ₁ direction from the front end of the fifth shelf 11-5. Therefore, the projector 20 projects the image on the screen 13 and displays an instruction to the worker W.

When the worker W takes out an article (for example, a part or a product) stored in the box 50, the work support apparatus 1 displays an instruction to the worker W on the screen 13 (for example, designation of an article to be picked). indicate. The worker W takes out the designated article from the box 50 based on the display on the screen 13. For example, it is assumed that the worker W is instructed to take out the articles stored in the first box 50-1. The first box 50-1 to be laid in the -x ₁ direction of the end of the third shelf 11-3. In this case, the work support device 1 displays, in the first display area 100-1 above the first box 50-1 in the area of the screen 13, the articles stored in the first box 50-1 and the number of pieces to be taken out. And are displayed. The worker W checks the first display area 100-1 displayed in the display area 100, and removes the articles stored in the first box 50-1 below the first display area 100-1. Take out. As described above, the worker W can reduce a work error by checking the display area 100 displayed by the work support device 1.

  A sensor 40 is provided on the fifth shelf 11-5 at the top. As shown in FIG. 2, the sensor 40 detects the position of an object such as a hand in a monitoring range 41 set in front of the article shelf 10. Specifically, the monitoring range 41 is set in front of a space formed between the shelf 11 on which the box 50 is placed and the upper shelf 11 adjacent thereto. Further, the monitoring range 41 may be set in front of a space formed between the box 50 and the upper shelf 11 adjacent to the box 50.

  The worker W takes out the articles stored in the first box 50-1 according to the instructions displayed on the screen 13. At this time, the hand of the worker W passes through the monitoring range 41. As a result, the sensor 40 detects the position of the hand of the worker W passing through the monitoring range 41. Based on the detection result, the work support apparatus 1 can determine whether the worker W has taken out the article from the designated first box 50-1. When the work support device 1 determines that the position of the hand of the worker W is different from the position of the first box 50-1, it notifies the worker W. That is, when the work support device 1 detects a work mistake in picking by the worker W, the work support device 1 notifies the worker W. For example, the projector 20 notifies the worker W by blinking red on the screen 13. The article shelf 10 may include a speaker and notify the worker W by voice.

  Further, the worker W takes out the designated number of articles from the first box 50-1, and then touches the first display area 100-1. The sensor 40 detects the hand of the worker W in the monitoring range 41 corresponding to the first display area 100-1. As a result, the work support device 1 determines that the removal work from the first box 50-1 has been completed.

A camera 30 is installed on the fifth shelf 11-5 at the top. The camera 30 is supported on the fifth shelf 11-5 via the arm 15. The arm 15 is also provided so as to protrude forward of the fifth shelf 11-5. In other words, the camera 30 are also installed -y in _one direction from the front end of the fifth shelf 11-5.

The camera 30 images each shelf 11 from above the article shelf 10 in order to specify the position of the box 50. when viewed from the z ₁ direction, each shelf 11, as the front end is arranged in the + y ₁ direction from the bottom in order, are disposed. For this reason, the camera 30 can image the front end of the box 50 placed on each shelf 11. As shown in FIG. 3, the box 50 has markers 51 at at least one of the four upper corners. The box 50 is placed on the shelf 11 such that the marker 51 is arranged in front of the shelf 11. Therefore, the camera 30 can image the marker 51 of the box 50 placed on each shelf 11 as shown in FIG.

Captured image by the camera 30 is imaged, the direction extending front end of the shelf 11 and x ₂ direction, the direction orthogonal thereto as y ₂ direction, is analyzed. Here, + y ₂ direction is a direction from the front to the rear of the shelf 11. Since the marker 51 is attached to the front end of the box 50, in the captured image, the marker 51 of the box 50 arranged on the same shelf 11, arranged in x ₂ direction. Thus, the work support device 1, in rack 11, the x ₁ direction position the box 50 is placed can be identified from the x ₂ direction position. Further, the front end of each shelf 11, z ₁ direction, that is, when viewed from the imaging direction of the camera 30, are arranged side by side in + y ₁ direction. Therefore, in the captured image, the front end of each shelf 11 is aligned in the + _{y 2} direction. Specifically, in the captured image, the front end of the first shelf 11-1 of the bottom, + _y in _two directions, the front end of the second shelf 11-2 adjacent above the first shelf 11-1 located . The front end of the second shelf 11-2, + _y in _two directions, the third front edge of the shelf 11-3 adjacent to the upper side of the second shelf 11-2 located. Therefore, than a box 50 which is located in the first stage 11-1, a box 50 which is located in the second shelf 11-2 is located in + _{y 2} direction. Moreover, than a box 50 which is located in the second shelf 11-2, third box is placed on a shelf 11-3 50 is located in + _{y 2} direction. Box In other words, y ₂ directions, a region marker 51 of the box 50 which is placed on the first shelf 11-1 lowermost is photographed is being placed on the second shelf 11-2 in the second stage It can be distinguished from the area where the 50 markers 51 are captured. Similarly, in the _{y 2} direction, the region where the marker 51 of that box 50 placed on the second shelf 11-2 in the second stage is photographed is placed on the third shelf 11-3 in the third stage It can be distinguished from the area where the marker 51 of the box 50 is photographed. Thus the position of the box 50 in the y ₂ direction, that based on the position of the marker 51, it is possible to identify the shelf 11 for the box 50 is placed.

  Here, the marker 51 is used to identify the box 50 from the captured image, such as an AR marker and a QR code (registered trademark). Therefore, the position of each box 50 can be specified based on the image captured by the camera 30.

  Next, a system configuration of the work support device 1 will be described. The work support device 1 includes a management terminal 60 as shown in FIG. The management terminal 60 controls the operation of the work support device 1. For example, the management terminal 60 controls an image displayed by the projector 20 based on a captured image of the camera 30 and a detection result of the sensor 40. The management terminal 60 includes an arithmetic device 61, a display device 62, an input device 63, and an interface 64.

  The interface 64 is electrically connected to the camera 30, the sensor 40, and the projector 20. Specifically, the interface 64 receives image information indicating an image captured by the camera 30 from the camera 30. Further, the interface 64 receives, from the sensor 40, position information indicating the position of the object detected by the sensor 40. Further, the interface 64 transmits display information indicating an image to be displayed to the projector 20. The interface 64 is connected to the camera 30, the sensor 40, and the projector 20 by wire or wirelessly. Further, the work support device 1 may include an output device 70 (for example, a speaker or the like) that notifies the worker W or the like. In this case, the output device 70 is also electrically connected to the interface 64.

  The arithmetic device 61 performs data processing for controlling the operation of the work support device 1. For example, the arithmetic unit 61 generates instruction data for specifying the articles to be taken out by the worker W and the quantity thereof. The arithmetic device 61 generates display information for displaying an instruction to the worker W at a desired position based on the generated instruction data, and transmits the display information to the projector 20.

For example, the arithmetic unit 61 determines whether the article specified by the worker W is taken out based on the detection result of the sensor 40. Specifically, the arithmetic unit 61 determines whether the position detected by the sensor 40 is included in an area corresponding to the specified box 50. When the position detected by the sensor 40 is not included in the area corresponding to the specified box 50, the arithmetic unit 61 determines that an operation error has occurred, generates display information that flashes red, and transmits the display information to the projector 20. I do. Further, the arithmetic device 61 may generate audio information indicating a work error, and output an alarm from the output device 70. Here, the region corresponding to the box 50, for example, in the monitoring range 41, a -y ₁ direction of a region of the box 50. Also, this region is a -x ₁ direction of the end of the -x ₁ direction end box 50, + _{x 1} direction of the end is + _{x 1} direction of the end of the box 50, -z ₁ direction of the end the box a rack 11 which is placed a 50, + z ₁ direction of the end good even above the shelf 11 adjacent thereto.

In addition, for example, when the sensor 40 detects an object in an area corresponding to the display area 100 of the box 50, the arithmetic device 61 determines that the removal of the article is completed. Specifically, when the removal of the article is completed, the worker W touches the display area 100 above the designated box 50. Therefore, the sensor 40 detects the hand of the worker W in the area in the −y ₁ direction of the display area 100. When the position detected by the sensor 40 is included in the area corresponding to the displayed display area 100, the arithmetic device 61 determines that the work has been completed.

  The display device 62 displays various data held by the management terminal 60, such as an instruction to the worker W. The input device 63 inputs data to be set in the arithmetic device 61 and the like. The input device 63 is, for example, a keyboard, a mouse, a microphone, and the like. The management terminal 60 is, for example, a general-purpose personal computer.

(Identify the position of the box)
The work support apparatus 1 can specify the position of the box 50 based on the image captured by the camera 30. For this reason, after arranging the box 50, the work support apparatus 1 can identify the position of the box 50 in which each article is stored by analyzing the image captured by the camera 30.

Arithmetic unit 61, as shown in FIG. 6, a marker 51 that is attached to the box 50, the width of the box 50, i.e. the length of x ₁ direction, and the article ID showing the article being housed in a box 50, Box information 200 that associates the range of the display area 100 corresponding to the box 50 is registered. The box information 200 is registered in advance from the input device 63 except for the range of the display area 100.

  The operation of the work support apparatus 1 for specifying the position of the box 50 will be described. As shown in FIG. 1, a setting request area 110 for setting the position of the box 50 is provided on the screen 13. When the position of the box 50 is changed, the worker W touches the setting request area 110. The setting request area 110 is an area that is not included in the display area 100. An image for distinguishing from the display area 100 is displayed in the setting request area 110.

When the operator W touches the setting request area 110, the sensor 40 in the -y ₁ direction setting request area 110, it detects the hand of the operator W. As shown in FIG. 7, the arithmetic unit 61 determines that a setting request for the box 50 has been input based on the detection result of the sensor 40 (step S110: Yes). Specifically, the arithmetic unit 61, a position sensor 40 has detected, in the case of -y ₁ direction setting request area 110, it is determined that the setting request is input. If the position detected by the sensor 40 is not a space corresponding to the setting request area 110, the arithmetic device 61 determines that a setting request has not been input (step S110: No).

  When the setting request is input, the arithmetic device 61 acquires a captured image from the camera 30 (step S120). For example, the arithmetic unit 61 transmits an imaging signal indicating an instruction to perform imaging to the camera 30. The camera 30 captures an image of the article shelf 10 based on the image capturing signal and transmits the captured image to the arithmetic device 61. Further, the camera 30 may always take an image. In this case, the arithmetic device 61 acquires a captured image captured when the setting request is input.

As shown in FIG. 4, the captured image of the camera 30 includes a marker 51 attached to each box 50. Therefore, the arithmetic device 61 specifies the position of the box 50 to which the marker 51 is attached from the position of the marker 51 (step S130). Specifically, the arithmetic unit 61, in the captured image, to identify the y ₂ direction in the range of each shelf 11. Since the camera 30 is fixed to the article shelf 10, y ₂ direction in the range of each shelf 11 may be registered in advance from the input device 63. Next, the arithmetic unit 61 detects the marker 51 in the range of the first shelf 11-1 provided at the lowermost stage. Arithmetic unit 61, in the _{x 2} direction, based on the position where the marker 51 is detected to identify the position of the box 50 in the first stage 11-1. Further, the arithmetic unit 61 searches the box information 200 for the detected marker 51, and extracts the width of the corresponding box 50 and the article ID. Here, since the width of the box 50 is acquired, it is possible to identify the two ends of the box 50 in x ₁ direction. Next, the arithmetic unit 61 similarly detects the marker 51 in the range of the second shelf 11-2 and the range of the third shelf 11-3, and specifies the position of the box 50. Thus, the arithmetic unit 61, the position of the box 50 in the y ₂ direction, that based on the position of the marker 51 to identify the shelf 11 for the box 50 is placed. The arithmetic unit 61, the position of the box 50 in the _{x 2} direction, that based on the position of the marker 51 to identify the _{x 1} direction position in each shelf 11.

The arithmetic unit 61 determines the display area 100 corresponding to the box 50 based on the specified position of the box 50 (Step S140). Specifically, the arithmetic unit 61, a -x ₁ direction of the end of the display area 100 determined in -x ₁ direction of the end of the box 50, a + _{x 1} direction of the end of the display area 100, box 50 + _{x 1} Determine at the end of the direction. Arithmetic unit 61, in the z ₁ direction, the range of the screen 13 is provided adjacent the upper shelf 11 that the box 50 is placed, is determined as the display area 100. The determined display area 100 is registered in the box information 200.

  After specifying the positions of all the boxes 50 and determining the display area 100, the arithmetic unit 61 notifies the worker W that the setting operation has been completed (step S150). For example, when the setting request area 110 is touched, the display on the setting request area 110 disappears, and when the setting operation is completed, the setting request area 110 may be displayed. Further, a sound indicating that the setting operation has been completed may be output by a speaker included in the output device 70. At this time, the arithmetic unit 61 generates display information and audio information indicating that the setting operation is completed, and transmits the generated display information and audio information to the projector 20 and the output device 70. In other words, the arithmetic device 61 generates and transmits a control signal for controlling the display of the projector 20 and the output of the output device 70.

  As described above, even when the position of the box 50 is changed, the work support device 1 can complete the setting operation without registering the position of the box 50 in the management terminal 60 from the input device 63. Also, when the box 50 is newly arranged, the same processing can be performed. Thus, the movement of the box 50 can be facilitated, and the work efficiency can be improved. When the projector 20 displays an instruction to the worker W, the work support apparatus 1 searches the box information 200 for an article to be taken out, and extracts a corresponding display area 100. Display information for displaying an instruction to the worker W in the extracted display area 100 is transmitted to the projector 20.

(Replenishment of goods)
When the number of articles stored in the box 50 decreases, the worker W replenishes the articles. For this reason, as shown in FIG. 1, the screen 13 is provided with a replenishment request area 120 for requesting replenishment of articles. When the number of articles stored in the box 50 decreases, the worker W touches the replenishment request area 120. Thereafter, the worker W touches the display area 100 corresponding to the box 50 with a small number of articles, and touches the replenishment request area 120 again. Thereby, the work support device 1 acquires the article to be replenished, and notifies the other worker using the output device 70.

When the operator W is touching the refill request area 120, the sensor 40, the hand of the worker W, it detects the -y ₁ direction of refill required area 120. As shown in FIG. 8, the arithmetic unit 61 determines that a request for replenishment of an article has been input based on the detection result of the sensor 40 (step S210: Yes). Specifically, the arithmetic unit 61, a position sensor 40 has detected, in the case of -y ₁ direction refill request area 120, it is determined that the replenishment request is input. If the position detected by the sensor 40 is not a space corresponding to the refill request area 120, the arithmetic unit 61 determines that a refill request has not been input (step S210: No).

  When the replenishment request is input, arithmetic unit 61 changes the display of projector 20 (step S220). For example, image information indicating an image in which all the display areas 100 can be recognized is generated and transmitted to the projector 20. For example, image information indicating an image in which all the display areas 100 are blue is generated. As a result, the work support device 1 notifies the worker W that the mode has been switched to the mode requiring replenishment. Further, the names of the articles stored in the corresponding boxes 50 may be displayed in all the display areas 100.

  The worker W touches the display area 100 corresponding to the box 50 containing the articles to be refilled. Therefore, the sensor 40 detects the position of the hand of the worker W. The calculation device 61 acquires the position detected by the sensor 40 (Step S230: Yes). Since the position detected by the sensor 40 is a space corresponding to the display area 100 (step S240: other), the arithmetic unit 61 specifies an article to be refilled (step S260). Therefore, the arithmetic unit 61 searches the display area 100 from the box information 200 and extracts the corresponding article ID. The article indicated by the extracted article ID is specified as the article requested to be refilled. The work support device 1 changes the color of the display area 100 corresponding to the specified article. That is, the arithmetic device 61 generates image information indicating an image in which the color of the display area 100 corresponding to the box 50 in which the specified article is stored is changed, and transmits the image information to the projector 20. Thereby, the projector 20 displays an image in which the color of the display area 100 of the box 50 corresponding to the requested article has been changed. Thereby, the worker W can confirm the requested article.

  The worker W touches another display area 100 when there is an article to be refilled. Similarly, the sensor 40 detects the position of the hand of the worker W, and the calculation device 61 specifies the article to be refilled. Further, the work support device 1 changes the color of the display area 100 of the requested box 50.

When all the articles to be refilled are selected, the worker W touches the refill request area 120. Thus, sensor 40, the hand of the worker W, detects the -y ₁ direction of refill required area 120. Since the position detected by the sensor 40 is a space corresponding to the replenishment request area 120 (step S240: replenishment request), the arithmetic unit 61 generates list information of articles to be replenished and transmits it to the output device 70 (step S240). S250). In other words, the arithmetic device 61 transmits a control signal for controlling the output device 70. The output device 70 displays a list of articles to be replenished and notifies another worker. The output device 70 may sound an alarm when receiving the list information of the articles to be refilled. Further, the arithmetic unit 61 generates image information indicating an image displayed by the projector 20 before requesting replenishment, and transmits the image information to the projector 20. Thereby, the work support device 1 notifies the worker W that the mode has been switched from the mode requesting replenishment to the normal mode.

In the above embodiment, in the y ₁ direction, the front end of each shelf 11 is arranged in order from the bottom, but the imaging direction of the camera 30 is an example which is z ₁ direction is not limited thereto. It is sufficient that the position where the box 50 is placed can be specified using the image captured by the camera 30, and an arbitrary method can be selected. For example, in the y ₁ direction, even the front end have the same position of each shelf 11, as shown in FIG. 9, the photographing direction of the camera 30 has only to inclined from z ₁ direction. In other words, when viewed from the shooting direction of the camera 30, the front ends of the shelves 11 may be arranged in order in a direction orthogonal to the direction in which the front ends extend, starting from the shelves 11 closer to the camera 30. Thereby, the camera 30 can image the front end of each shelf 11.

The arithmetic unit 61, in the captured image, based on the y ₂ position of the box 50, an example of specifying a rack 11 which is placed a box 50 is not limited to this. If the arithmetic unit 61 can specify the shelf 11 on which the box 50 is placed, any method can be selected. For example, the arithmetic unit 61 may specify the shelf 11 based on the size of the marker 51 shown in the captured image. When the size of the marker 51 is the same, if the position of the box 50 is away from the camera 30, the size of the marker 51 shown in the captured image becomes smaller. Further, based on the length of the x ₁ direction marker 51, rack 11 the box 50 is placed may be specified.

  In the above embodiment, the example in which the screen 13 is provided at the front end of the shelf 11 has been described, but the present invention is not limited to this. The screen 13 only needs to be able to display the display area 100 corresponding to the box 50, and can be arbitrarily selected. For example, it may be provided in the box 50.

  Further, the example in which the monitoring range 41 is set in front of the article shelf 10 has been described, but the present invention is not limited to this. Based on the detection result of the sensor 40, the arithmetic unit 61 only needs to be able to specify the box 50 in which the worker W reaches, and an arbitrary method can be selected.

  An example is described in which the sensor 40 detects that the screen 13 has been touched at the end of the picking operation or the like, but the invention is not limited to this. For example, the screen 13 may include a touch sensor. In this case, when an object touches the screen 13, the screen 13 detects the position and transmits the detection result to the arithmetic device 61. Further, the screen 13 may be provided with a plurality of switches that are pressed at the end of the picking operation. The arithmetic unit 61 specifies the position of the pressed switch and determines that the picking operation has been completed. Further, an area that the worker W touches after taking out the article may be provided in one or more areas different from the display area 100. Note that a switch or a touch sensor may be used for the setting request area 110 and the replenishment request area 120 in the same manner.

The processing described above is an example, and the order of each step and the processing content may be changed within a range that does not impair the function. In addition, the configuration described above may be arbitrarily changed without impairing the function. For example, the number of shelves 11 on which the boxes 50 are placed can be arbitrarily selected. In addition, an example has been described in which the marker 51 is detected from the range of each shelf 11 in the captured image in order to specify the position of the box 50, but the present invention is not limited to this. For example, first detects the position of the marker 51, the box 50 from y ₂ position of the detected marker 51 may identify the shelf 11 is located. When the position of the box 50 is specified using the camera 30, the work support device 1 may include the camera 30 and the arithmetic device 61. Further, when specifying an article to be replenished, the work support device 1 may include the sensor 40 and the arithmetic device 61. In addition, the work support apparatus 1 has been described with reference to the example of the work of taking out an article from the box 50, but is not limited to this. For example, it can be understood that the work support device 1 can be applied to the work of housing the articles by replacing the work of taking out the articles with the work of housing the articles.

DESCRIPTION OF SYMBOLS 1 work support apparatus 10 goods shelf 11 shelf 11-1 1st shelf 11-2 2nd shelf 11-3 3rd shelf 11-4 4th shelf 11-5 5th shelf 12 bar 13 screen 13-1 first screen 13 -2 second screen 13-3 third screen 14 arm 15 arm 20 projector 30 camera 40 sensor 41 monitoring range 50 box 50-1 first box 51 marker 60 management terminal 61 arithmetic unit 62 display device 63 input device 64 interface 70 output Apparatus 100 display area 100-1 first display area 110 setting request area 120 replenishment request area 200 box information F floor W worker

Claims (5)

A camera for acquiring an image of an article shelf on which a plurality of boxes are placed,
A computing device that identifies a position of a first box of the plurality of boxes based on the captured image, and determines a position of a display area corresponding to the first box;
A projector for displaying instructions to the operator in the display area,
A sensor for detecting a position of an object within a monitoring range set on the article shelf ;
With
A marker is attached to the first box,
The marker is captured in the captured image,
The arithmetic unit includes:
Holding the marker in association with information on the first article contained in the first box,
Based on the marker, identify the position of the first box in which the first article is stored,
Based on the information of the first article, generating display information to be displayed in the display area,
The projector displays in the display area based on the display information,
The arithmetic unit includes:
In the first mode, an operation error in picking is detected based on the detection result of the sensor,
In the second mode,
Based on the detection result of the sensor, identify the first box indicated by the object,
Identifying the first article contained in the first box as an article for which replenishment has been requested
Work support device. The computing device, when the first mode, in said sensor first region within the monitoring range, when detecting the object, working according to claim 1 for switching from said first mode to said second mode Support equipment. The work support device according to claim 2 , wherein the arithmetic device switches from the second mode to the first mode when the sensor detects the object in the first region in the second mode. The work support device according to any one of claims 1 to 3 , wherein the arithmetic device transmits image information indicating that the mode has been switched to the second mode to the projector. A sensor for detecting a position of an object within a monitoring range set on an article shelf for storing articles, an arithmetic unit,
With
A first box containing a first article is placed on the article shelf,
The arithmetic unit includes:
Holding information on the first article stored in the first box,
In the first mode, an operation error in picking is detected based on the detection result of the sensor,
In the second mode,
Based on the detection result of the sensor, identify the first box indicated by the object,
A work support device for identifying the first article stored in the first box as an article for which replenishment has been requested.

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